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首页> 外文期刊>JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing >Model Reference Adaptive Control of a Cantilevered Flexible Beam
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Model Reference Adaptive Control of a Cantilevered Flexible Beam

机译：悬臂梁的模型参考自适应控制

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摘要

In this paper, model reference adaptive control of a cantilevered flexible beam with Kelvin-Voigt damping and unknown spatially varying coefficients is investigated. Any mechanically flexible robots/structures are inherently distributed parameter systems whose dynamics are described by partial, rather than ordinary, differential equations. Adaptation laws are derived by the Lyapunov redesign method on an infinite dimensional Hilbert space. To show the well-posedness of a coupled nonlinear system, combined state error and parameter estimation error equations are constructed as an initial value problem of an infinite dimensional evolution equation in weak form. It is then shown through the Lyapunov redesign approach that the state error actually converges asymptotically to zero. With an additional persistence of excitation assumption, the parameter estimation errors are shown to converge to zero as well.
机译：本文研究了具有Kelvin-Voigt阻尼和未知空间变化系数的悬臂式柔性梁的模型参考自适应控制。任何机械上灵活的机器人/结构都是固有分布的参数系统，其动力学由偏微分方程描述，而不是由微分方程描述。适应定律是通过Lyapunov重新设计方法在无限维希尔伯特空间上得出的。为了显示耦合非线性系统的适定性，将组合状态误差和参数估计误差方程构造为弱形式的无限维发展方程的初值问题。然后通过Lyapunov重新设计方法表明状态误差实际上渐近收敛到零。通过额外的激励假设持久性，参数估计误差也显示为收敛于零。

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